//------------------------------------------------------------------------------
//  <copyright file="KukaLBR4WorkingRegisterArray.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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//  copies of the Software, and to permit persons to whom the Software is
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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//------------------------------------------------------------------------------

namespace Microsoft.Robotics.Hardware.KukaLBR
{
    using System;
    using System.Collections.Generic;
    using System.Threading.Tasks;
    using Microsoft.Robotics.Manipulation;
    using Microsoft.Robotics.Manipulation.ControllerStateMachine;
    using Microsoft.Robotics.Numerics;

    using LBR4 = KukaLBR4PlusCsharpDefinitionsNativeMethods;

    /// <summary>
    /// Represents the working registers for the KUKA LBR4 as an array of arrays
    /// </summary>
    public class KukaLBR4WorkingRegisterArray
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="KukaLBR4WorkingRegisterArray" /> class.
        /// </summary>
        public KukaLBR4WorkingRegisterArray()
        {
            this.Registers = new double[(int)LBR4.KukaLBR4PlusWorkingRegisters.NumberOfWorkingRegisters][];

            for (int i = 0; i < (int)LBR4.KukaLBR4PlusWorkingRegisters.NumberOfWorkingRegisters; ++i)
            {
                this.Registers[i] = new double[LBR4.KukaLBR4PlusRegisterSizes[i] / sizeof(double)];
            }
        }

        /// <summary>
        /// Gets or sets the values of the registers
        /// </summary>
        public double[][] Registers { get; set; }
    }
}
